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WO2005107261A1 - Visualisation de circonférence d’un véhicule - Google Patents

Visualisation de circonférence d’un véhicule Download PDF

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Publication number
WO2005107261A1
WO2005107261A1 PCT/JP2005/007606 JP2005007606W WO2005107261A1 WO 2005107261 A1 WO2005107261 A1 WO 2005107261A1 JP 2005007606 W JP2005007606 W JP 2005007606W WO 2005107261 A1 WO2005107261 A1 WO 2005107261A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
viewpoint
obstacle
unit
display device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2005/007606
Other languages
English (en)
Japanese (ja)
Inventor
Tomoya Nakanishi
Akira Ishida
Yutaka Watanabe
Toru Ichikawa
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Panasonic Holdings Corp
Original Assignee
Matsushita Electric Industrial Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Matsushita Electric Industrial Co Ltd filed Critical Matsushita Electric Industrial Co Ltd
Priority to JP2006512752A priority Critical patent/JPWO2005107261A1/ja
Priority to EP05734727A priority patent/EP1748654A4/fr
Priority to US10/573,685 priority patent/US7369041B2/en
Publication of WO2005107261A1 publication Critical patent/WO2005107261A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/27—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view providing all-round vision, e.g. using omnidirectional cameras
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/301—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/302—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
    • B60R2300/602—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective with an adjustable viewpoint
    • B60R2300/605—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective with an adjustable viewpoint the adjustment being automatic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/70—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by an event-triggered choice to display a specific image among a selection of captured images
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9314—Parking operations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93272—Sensor installation details in the back of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93274—Sensor installation details on the side of the vehicles

Definitions

  • a vehicle periphery display device as described above (hereinafter, referred to as a conventional display device), a plurality of imaging devices, a plurality of laser range finders, a three-dimensional virtual unit, an image conversion unit, And a display unit.
  • a plurality of imaging devices are installed in the vehicle 1, and the surroundings are imaged by these imaging devices.
  • a plurality of laser range finders measure the distance to an object in the field of view (the subject of the imaging device).
  • One imaging device and one radar range finder are arranged close to each other.
  • the three-dimensional virtual part obtains a distance image (see the upper left part of FIG. 18) of the visual field based on distance information from the laser range finder. Performs object recognition in the field of view from the original image (see the upper right side of Fig. 18). Based on these two pieces of image information, the original image and the distance image, and knowledge from object recognition, the field of view is reproduced three-dimensionally assuming a hidden part of the subject, which cannot be seen by the imaging device.
  • a bird's-eye view viewed from a virtual camera set above the vehicle is displayed. Therefore, when a vehicle approaches an obstacle, the obstacle enters a blind spot formed by the vehicle in a bird's-eye view, making it difficult for the driver to visually recognize the obstacle.
  • a first aspect of the present invention is directed to a vehicle periphery display device that selectively displays at least two types of images around a vehicle.
  • the vehicle surrounding display device includes a measuring unit for measuring a distance and an azimuth to an obstacle around the vehicle with respect to the vehicle, a comparing unit for comparing the measured distance of the measuring unit with a predetermined threshold value, While the result indicates that the measurement distance is large, the first viewpoint determined in advance is determined, and while the comparison result of the comparison unit does not indicate that the measurement distance is large, the measurement by the measurement unit is performed.
  • a second aspect is directed to a vehicle periphery display method for selectively displaying at least two types of images on a display device around a vehicle.
  • the vehicle surrounding display method includes: a measuring step of measuring a distance and an azimuth to an obstacle around the vehicle with reference to the vehicle; a comparing step of comparing the measured distance in the measuring step with a predetermined threshold value; Is larger, the first viewpoint determination step for determining the first viewpoint determined in advance and the first viewpoint power determined in the first viewpoint determination step represent the surroundings of the vehicle as viewed.
  • a first image generating step for generating a first image; and a first image generating step.
  • the second viewpoint determining step of determining the second viewpoint based on the measurement orientation in the measuring step, and the peripheral force of the second viewpoint determined in the second viewpoint determining step are determined.
  • both the first viewpoint and the second viewpoint are represented by three-dimensional coordinate values, and the magnitude of the horizontal component of the second viewpoint is larger than that of the horizontal component of the first viewpoint.
  • the magnitude of the vertical component of the second viewpoint is smaller than that of the vertical component of the first viewpoint.
  • the three-dimensional coordinates of the first viewpoint correspond to the position directly above the vehicle
  • the three-dimensional coordinates of the second viewpoint correspond to the direction of the vehicle and obstacles starting from itself. And make a predetermined depression angle with respect to the horizontal plane.
  • the second viewpoint is set to a point included in a vertical plane perpendicular to a straight line connecting the vehicle and the obstacle.
  • the vertical plane is set to a vertical bisector of a straight line connecting the vehicle and the obstacle.
  • the height of the obstacle is measured, and whether or not the vehicle can travel without contacting the obstacle is determined based on the measured height of the obstacle.
  • the second viewpoint is determined in consideration of the detected steering angle.
  • the second viewpoint is preferably set to a three-dimensional coordinate value that allows the driver to visually recognize both the obstacle and the part of the vehicle that contacts the obstacle.
  • the distance and the azimuth having the highest possibility of contacting the vehicle are selected.
  • the selected distance is compared with a predetermined threshold, and the second viewpoint is determined based on the selected azimuth while the comparison result indicates that the measured distance is not large.
  • an obstacle existing around the vehicle is detected by a plurality of active sensors, each of which is installed on the front, rear, or side of the vehicle.
  • the distance and the azimuth to surrounding obstacles are measured with reference to the vehicle. If the measured distance is not larger than the predetermined threshold, that is, if the vehicle is close to the obstacle, the vehicle and the vehicle as viewed from the vicinity of the second viewpoint determined based on the measurement direction are determined. Second image data representing an obstacle is generated and displayed. Since such a second viewpoint is set, in the second image data, the obstacle is less likely to enter a blind spot formed by the vehicle. Accordingly, it is possible to provide a vehicle surrounding display device that can display an image in which a driver can easily recognize an obstacle.
  • FIG. 1 is a schematic diagram showing a block configuration of a vehicle periphery display device 1 according to one embodiment of the present invention.
  • FIG. 2 is a schematic diagram showing an example of an arrangement of active sensors 111 included in the measurement unit 11 shown in FIG.
  • FIG. 4 is a flowchart showing an operation of the vehicle periphery display device 1 shown in FIG. 1.
  • FIG. 5 is a schematic diagram showing an obstacle B existing in an area in front, behind, or side of the vehicle A shown in FIG. 1.
  • FIG. 6A shows that the active sensor 111 and the obstacle B shown in FIG.
  • FIG. 1 A first figure.
  • FIG. 7 is a schematic diagram for explaining a method of deriving a distance C when an obstacle B is present in an area oblique to the vehicle A shown in FIG. 1.
  • FIG. 8A shows the second viewpoint P determined by the viewpoint determining unit 13 shown in FIG. 1 when viewed from above.
  • FIG. 8B shows the second viewpoint P determined by the viewpoint determining unit 13 shown in FIG. 1 when viewed from behind.
  • FIG. 9 is a diagram illustrating a case where an obstacle B is present in an oblique area with respect to the vehicle A shown in FIG. When viewed from
  • FIG. 1 A first figure.
  • FIG. 10 is a schematic diagram showing a specific location image displayed on display unit 15 shown in FIG. 1.
  • FIG. 11 is a schematic diagram showing a bird's-eye view image displayed on the display unit 15 shown in FIG. 1.
  • FIG. 12 is a block diagram of a vehicle periphery display device la according to a first modification of the present invention.
  • FIG. 13 is a flowchart showing an operation of the vehicle surrounding display device la shown in FIG. 1.
  • FIG. 14 is a schematic diagram showing a height H derived by the contact determination unit 21 shown in FIG.
  • FIG. 15 is a schematic diagram showing a block configuration of a vehicle periphery display device lb according to a second modification of the present invention.
  • FIG. 16 is a flowchart showing an operation of the vehicle periphery display device lb shown in FIG.
  • FIG. 17A shows a preferable second viewpoint P determined by the viewpoint determining unit 13 shown in FIG.
  • FIG. 2 is a first schematic diagram shown in FIG.
  • FIG. 17B shows a preferable second viewpoint P determined by the viewpoint determining unit 13 shown in FIG.
  • FIG. 2 is a second schematic diagram shown in FIG.
  • FIG. 18 is a schematic diagram showing a schematic process of a conventional vehicle periphery display device. Explanation of symbols
  • FIG. 1 is a schematic diagram illustrating an example of a block configuration of a vehicle periphery display device 1 according to an embodiment of the present invention.
  • a vehicle periphery display device 1 is mounted on a vehicle A, As a typical configuration, it includes a measurement unit 11, a comparison unit 12, a viewpoint determination unit 13, an image generation unit 14, and a display unit 15. Further, as a preferred configuration, the vehicle periphery display device 1 includes a data storage unit 16.
  • the measuring unit 11 measures at least the distance C and the direction D to the obstacle B around the vehicle A.
  • the measuring unit 11 includes a plurality of active sensors 111 (16 shown).
  • the active sensor 111 a laser radar, a millimeter-wave radar, or a quasi-millimeter-wave radar is typical.
  • Each active sensor 111 alone can detect an obstacle B existing in its own detection range by scanning a range of about ⁇ 45 degrees in the horizontal direction and about ⁇ 20 degrees in the vertical direction.
  • four such active sensors 111 are provided at the front part, the rear part, and both side parts of the vehicle A so as to detect the obstacle B existing around the vehicle A at 360 °. It is attached.
  • the comparison unit 12 compares the distance C measured by the measurement unit 11 with a threshold value E held in advance, and generates a comparison result F.
  • the threshold value E is a reference value used for determining whether or not the vehicle A is approaching the obstacle B.
  • the comparison result F is “F”; otherwise, the comparison result F is “F”.
  • the viewpoint determination unit 13 looks down on the vehicle A while the comparison result F of the comparison unit 12 indicates "F".
  • the viewpoint determination unit 13 determines the vehicle A based on the azimuth D obtained from the measurement unit 11.
  • the image generating unit 14 When obtaining the first viewpoint P from the viewpoint determining unit 13, the image generating unit 14 generates first image data I representing a situation around the vehicle A when the obtained first viewpoint P force is viewed. . That a
  • the image generation unit 14 obtains the second viewpoint P from the viewpoint determination unit 13
  • the image generation unit 14 obtains the second viewpoint P from the viewpoint determination unit 13
  • the comparison unit 12, the viewpoint determination unit 13 and the image generation unit 14 are typically composed of a combination of a CPU, a ROM, and a RAM. This is realized by the CPU executing a computer program using the RAM.
  • the display unit 15 obtains the first image data I from the image generation unit 14, the display unit 15
  • the display unit 15 displays the image b of the specific location of the vehicle A according to the obtained second image data I.
  • the driver of the vehicle A receives the bird's-eye view image of the vehicle A based on the first image data Ia and the specific location image of the vehicle A based on the second image data Ib.
  • the display unit 15 can apply a monitor provided in an in-vehicle navigation system or a television receiver, or a head-up display or a head-mounted display.
  • the data storage unit 16 is typically composed of an HDD (Hard Disc Drive), a DVD (Digital Versatile Disc), or a semiconductor memory. Various data are stored in the data storage unit 16 as shown in FIG. First, the height H of the vehicle A (hereinafter referred to as vehicle height information) and shape data M representing the outer shape of the vehicle A are stored. Other,
  • the data storage unit 16 stores the width of the vehicle A (hereinafter referred to as vehicle width information) W and the total length of the vehicle A.
  • total length information L (Hereinafter referred to as total length information) L is stored.
  • the data storage unit 16 stores the mounting position P of each active sensor 111.
  • shape data M representing the outline of an obstacle B, such as a person, a wall, or a tree, is
  • the data is stored in the data storage unit 16.
  • the various data stored in the data storage unit 16 as described above is mainly used for creating the first image data I and the second image data I.
  • the measuring unit 11 detects the obstacle B (Step S11). Specifically, the measuring unit 11 derives a distance C to the obstacle B and a direction D of the obstacle B based on the vehicle A. Further, the measuring unit 11 estimates what the obstacle B detected this time is, and thereby obtains the estimation result G.
  • FIG. 5 is a schematic diagram showing an obstacle B existing in an area in front of, behind, or on the side of vehicle A (see the hatched portion).
  • Fig. 5 schematically shows vehicle A when viewed from above, and also shows an example where obstacle B is present to the left of vehicle A and obstacle B is behind vehicle A. Have been.
  • the active sensor (hereinafter, referred to as a proximity active sensor) 111 has a positional relationship as shown in FIGS. 6A and 6B.
  • FIG. 6A is an enlarged view when the proximity active sensor 111 and the obstacle B (or B) are viewed from directly above them.
  • FIG. 6A is an enlarged view when the proximity active sensor 111 and the obstacle B (or B) are viewed from directly above them.
  • FIG. 1 A first figure.
  • the proximity active sensor 111 has a distance d to the obstacle B (or B) with respect to itself, a horizontal azimuth ⁇ , and a vertical azimuth ⁇ And
  • the measuring unit 11 is provided between the proximity active sensor 111 and the obstacle B (or B).
  • FIG. 7 shows that the obstacle B does not exist in front of, behind, or on the side of the vehicle A, and the obstacle B is located in an area oblique to the vehicle A (see the hatched portion).
  • FIG. 9 is a schematic diagram for explaining a method of deriving a distance C when exists.
  • FIG. 7 schematically shows a vehicle A and an obstacle B when viewed from above, and further illustrates an example in which an obstacle B is present on the right rear side of the vehicle A.
  • the active sensor 111 on the rear left side of the vehicle A is the proximity active sensor 111.
  • the proximity active sensor 111 detects the distance d to the obstacle B based on itself, the horizontal azimuth ⁇ , and the vertical azimuth ⁇ in the same manner as described above. Therefore, the shortest distance C and the vertical azimuth ⁇ can be obtained by the measuring unit 11 in the same manner as described above.
  • the proximity active sensor 111 since the proximity active sensor 111 is installed obliquely rearward with respect to the vehicle A, the horizontal azimuth ⁇ The orientation is converted into the azimuth D with respect to the vehicle A using the attachment position of the proximity active sensor 111 stored in the unit 16.
  • the estimation of the obstacle B is performed, for example, by using the active sensor 11 regardless of the area where the obstacle B is located.
  • the comparison unit 12 compares the distance C stored in the RAM with the threshold value E held by itself, and stores the comparison result F in the RAM (Step S12). Specifically, if the distance C is large, “F” as the comparison result F is stored in the RAM, and if not, the comparison result is
  • the threshold value E1 is, for example, a force selected to be 1 meter. This value may be changeable according to the driver's specification or according to the design specification of the vehicle surrounding display device 1. With such a threshold value E, the comparison result F indicates whether or not the obstacle B exists near the vehicle A or not.
  • the viewpoint determining unit 13 determines whether or not the comparison result F in the RAM is “F” (step
  • the viewpoint determination unit 13 determines the second viewpoint P for the specific location (step
  • the viewpoint determining unit 13 uses the direction D currently stored in the RAM for determining the second viewpoint P. As a result,
  • the fixed part 13 can recognize in which direction the obstacle B exists in the direction of the vehicle A. Further, the depression angle R with respect to the horizontal plane becomes a predetermined value (for example, 45 °), and the vicinity of the proximity active sensor 111 (that is, the possibility that the vehicle A is likely to come into contact with the obstacle B is high). Is set as the second viewpoint P as shown in. Also,
  • the depression angle R is the angle between the horizontal plane and the line that extends from the second viewpoint P to the horizontal plane.
  • This line is required to extend in the direction of the proximity active sensor ill or its sensing range.
  • the value of the depression angle R may be changeable in accordance with the specification of the driver or in accordance with the design specifications of the vehicle surrounding display device 1.
  • the viewpoint determining unit 13 is preferably stored in the RAM in addition to the direction D.
  • the distance C is used to determine the second viewpoint P.
  • FIG. 1 As the second viewpoint P, FIG.
  • FIG.8B it is orthogonal to the line L representing the shortest distance between the vehicle A and the obstacle B.
  • Three-dimensional coordinate values that are included in the vertical plane P and have a predetermined angle of depression R with respect to the horizontal plane are selected.
  • the vertical plane P is a plane that vertically bisects the line L.
  • the viewpoint determination unit 13 passes the second viewpoint P set as described above to the image generation unit 14. Picture
  • the image generator 14 Upon receiving the second viewpoint P, the image generator 14 creates second image data I (step S).
  • shape data M representing a detected obstacle B and shape data M representing a vehicle A corresponding to the estimation result G stored in the data storage unit 16 are extracted.
  • the component 14 arranges the object of the obstacle B and the object of the vehicle A in the positional relationship of the distance C and the direction D stored in the RAM, and further, based on the received position of the second viewpoint P.
  • the second image data I representing the appearance when both are viewed is created.
  • the value representing the distance C and the value representing the height H of the obstacle are combined with the second image data I.
  • the image generation unit 14 transfers the second image data I created as described above to the display unit 15, and b
  • the display unit 15 displays a specific location image based on the second image data I as shown in FIG.
  • Step SI6 the process returns to step S11.
  • the viewpoint determining unit 13 determines that the vehicle A and the obstacle B are not sufficiently close to each other, and determines the first viewpoint P (step S13). 17).
  • the first viewpoint P is set directly above the vehicle A.
  • the first viewpoint P is set to three-dimensional coordinate values (0, 0, z)
  • the second viewpoint P is set to three-dimensional coordinate values (X, y,
  • the second viewpoint P needs to be shifted more horizontally than the first viewpoint P
  • the magnitude of the horizontal component of the first viewpoint P is equal to the magnitude of the horizontal component of the second viewpoint P. (That is, (x 2 + y 2 ))
  • the first viewpoint P set as described above is passed from the viewpoint determination unit 13 to the image generation unit 14.
  • the image generation unit 14 creates the first image data I (step S).
  • the first image data I is created in the same way as the second image data I, but ab
  • the numerical value representing the distance C of the obstacle B and the numerical value representing the height H of the obstacle B may be combined.
  • the image generation unit 14 transfers the first image data I created in this way to the display unit 15, and
  • the display unit 15 displays a bird's-eye view image based on the first image data I as shown in FIG.
  • Step SI 9 Then, the process returns to step S11.
  • the distance C from the vehicle A to the obstacle B becomes larger than the threshold E. Is larger, the bird's-eye view image based on the first image data I is displayed on the display unit 15.
  • the overhead image is a
  • the specific location image based on the second image data I is displayed on the display unit 15.
  • the specific location image is the obstacle b
  • the second viewpoint P set based on the bearing D detected for the object B is used,
  • the obstacle B Since the area around the proximity active sensor 111 that has detected the obstacle B is enlarged in the vehicle A, the obstacle B is less likely to enter the blind spot created by the vehicle A. In A, it is easy to visually recognize a location that is likely to contact obstacle B.
  • the preferred second viewpoint P is the vehicle A
  • a three-dimensional coordinate value at which the depression angle R with respect to the horizontal plane becomes a predetermined value is selected.
  • the vertical plane P is a plane that vertically bisects the line L. Setting such a second viewpoint P This makes it easier for both the proximity active sensor 111 and the obstacle B to appear on the specific location image. Therefore, it is possible to provide a vehicle surrounding display device that can display a specific location image that makes it easier for the driver to visually recognize the positional relationship between the vehicle A and the obstacle B. Displaying the distance C on the display unit 15 also makes it easier for the driver to grasp the positional relationship between the vehicle A and the obstacle B.
  • both the first image data I and the second image data I are identical to each other.
  • the data is generated by using the shape data M.
  • the shape data M is generated by using the shape data M.
  • the measuring unit 11 may detect a plurality of obstacles B in such a case. In such a case, the measuring unit 11 may detect the closest obstacle B in the traveling direction of the vehicle A as described above. It is preferable to apply the following processing.
  • FIG. 12 is a schematic diagram showing an example of a block configuration of a first modified example of the vehicle surrounding display device 1 (hereinafter, referred to as a vehicle surrounding display device la).
  • the vehicle surrounding display device la is different from the vehicle surrounding display device 1 shown in FIG. Other than that, there is no difference between the two vehicle surrounding display devices 1 and la. Therefore, in FIG. 12, the components corresponding to the configuration shown in FIG. 1 are denoted by the same reference numerals, and description thereof is omitted.
  • the contact determination section 21 derives the height H of the bottom surface of the obstacle B, and
  • the height of the vehicle A stored in the data storage unit 16 (hereinafter referred to as vehicle height information) H is compared.
  • the contact determination unit 16 determines whether or not the vehicle A can pass under the obstacle B. Then, it is determined whether or not the vehicle A can pass under the obstacle B, and the determination result [is generated. In the present embodiment, when the height H is larger than the vehicle height information H, the contact determination unit 16
  • the above-described contact determination unit 16 is also typically a combination of the above-described CPU, ROM, and RAM. Mating force is composed.
  • FIG. 13 the flowchart shown in FIG. 13 is different from that of FIG. 4 in that steps S21 and S22 are further provided. Other than that, there is no difference between the two flowcharts. Therefore, in FIG. 13, steps corresponding to those in FIG. 4 are denoted by the same step numbers, and the description thereof is omitted.
  • the contact determination unit 21 determines the height H of the bottom surface of the obstacle B as shown in FIG.
  • the height H is the distance C and the vertical orientation currently stored in RAM.
  • the contact determination unit 16 calculates the height H derived this time and the vehicle A stored in the data storage unit 16.
  • the RAM stores “J” as a judgment result [
  • step S21 the viewpoint determining unit 13 determines whether or not the result of the determination in the RAM is "J".
  • Step S22 Since the judgment of Yes means that the vehicle A cannot pass under the obstacle B, the viewpoint determining unit 13 determines whether or not to create the specific location image as described above. Step S12 and subsequent steps are performed. On the other hand, if No is determined in step S22, indicating that there is a possibility that the vehicle A can pass under the obstacle B, the viewpoint determining unit 13 determines in step S17. Do the following.
  • the driver can use the vehicle surrounding display device la in a situation such as a garage, for example, so that the driver can use the vehicle more easily. It is possible to provide the surrounding display device la.
  • the height H of the bottom surface of the obstacle B is combined with the specific location image.
  • FIG. 15 shows a second modified example of the above-described vehicle surrounding display device 1 (hereinafter, referred to as a vehicle surrounding display device lb).
  • FIG. 2 is a schematic diagram illustrating an example of a block configuration of FIG. 15, the vehicle periphery display device lb is different from the vehicle periphery display device 1 shown in FIG. 1 in that the vehicle periphery display device lb further includes a steering angle sensor 31 and a contact determination unit 32. Since there is no other difference between the two vehicle surrounding display devices 1 and lb, the same reference numerals in FIG. 15 denote the components corresponding to those in FIG. 1, and a description thereof will be omitted.
  • the steering angle sensor 31 detects the steering angle of the vehicle A, and passes the detection result to the contact determination unit 32.
  • the contact determination unit 32 derives a predicted trajectory that the vehicle A will travel from, based on the detection result from the steering angle sensor 31. Further, the contact determination unit 32 determines whether or not the obstacle B exists on the derived predicted trajectory from the distance C to the obstacle B and the direction D stored in the RAM, and generates a determination result K. . In the present embodiment, when the obstacle B exists on the predicted trajectory, the contact determination unit 32 stores the determination result [ ⁇ ⁇ ⁇ ] in the RAM. Also so
  • contact determination unit 32 is also typically configured by the combination of the CPU, ROM, and RAM described above.
  • FIG. 16 The flowchart shown in FIG. 16 is different from that of FIG. 4 in that steps S31 and S32 are further provided. Apart from that, there is no difference between the two flowcharts. Therefore, in FIG. 16, steps corresponding to those in FIG. 4 are denoted by the same step numbers, and description thereof is omitted.
  • the contact determination unit 32 derives a predicted trajectory of the vehicle A using the detection result from the steering angle sensor 31. Further, the contact determination unit 32 determines whether the obstacle B exists on the derived predicted trajectory, and stores the determination result K (“K” or “ ⁇ ⁇ ”) in the RAM.
  • step S31 the viewpoint determining unit 13 determines whether the determination result K in the RAM is "K".
  • step S32 If it is determined as Yes, it means that there is a high possibility that the obstacle B and the vehicle A do not come into contact with each other, so the viewpoint determining unit 13 performs the above-described step S17 and subsequent steps. On the other hand, the judgment of No in step S32 means that the obstacle B and the vehicle A Therefore, the viewpoint determining unit 13 performs the above-described step S12 and subsequent steps in order to determine whether to create the specific location image.
  • the driver can use the vehicle surrounding display device lb, for example, in a situation where the vehicle A enters the parking space, so that the usability is improved. It is possible to provide the vehicle surrounding display device la.
  • a predicted locus may be combined with the specific location image or the bird's-eye view image.
  • the second viewpoint P is determined as shown in FIGS. 8A, 8B, and 9.
  • the second viewpoint P is more preferably set as follows. That is,
  • the second viewpoint P when there is an obstacle B behind the reversing vehicle A and the steering of the vehicle A is turned to the left (counterclockwise), the second viewpoint P
  • the second viewpoint P is selected according to the direction of the obstacle B, the traveling direction of the vehicle A, and the steering operation direction.
  • the vehicle A has an obstacle.
  • the appearance of the obstacle is displayed on the display unit 15, so that the positional relationship between the vehicle A and the obstacle B can be easily understood by the driver.
  • the vehicle surrounding display device according to the present invention is useful for a navigation device, a parking assist device, or the like, which requires a driver to easily recognize an obstacle and to display an image.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Mechanical Engineering (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Traffic Control Systems (AREA)

Abstract

Une visualisation de circonférence d’un véhicule susceptible d’afficher une image telle que le conducteur puisse facilement confirmer un obstacle. La visualisation de circonférence (1) du véhicule comprend une section (1) pour mesurer la distance vers un obstacle circonférentiel B et l’azimut de celui-ci en référence à un véhicule A, une section (12) pour comparer une distance mesurée avec une valeur de seuil spécifique, une section (13) pour déterminer un premier point de vue prédéterminé si les résultats de la comparaison indiquent une distance mesurée plus longue, déterminant sinon un deuxième point de vue sur la base d’un azimut mesuré, une section (14) pour créer une vue d’ensemble de la circonférence du véhicule vue depuis un premier point de vue donné lorsqu’un premier point de vue est paramétré et créant une image de position spécifique indicatrice du véhicule A et l’obstacle B vu depuis un deuxième point de vue donné lorsqu’un deuxième point de vue est paramétré, et une section (15) pour afficher la vue d’ensemble ou l'image de la position spécifique.
PCT/JP2005/007606 2004-04-27 2005-04-21 Visualisation de circonférence d’un véhicule Ceased WO2005107261A1 (fr)

Priority Applications (3)

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JP2006512752A JPWO2005107261A1 (ja) 2004-04-27 2005-04-21 車両周囲表示装置
EP05734727A EP1748654A4 (fr) 2004-04-27 2005-04-21 Visualisation de circonférence d"un véhicule
US10/573,685 US7369041B2 (en) 2004-04-27 2005-04-21 Vehicle surrounding display device

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JP2004130989 2004-04-27

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EP1748654A4 (fr) 2013-01-02
US20070120656A1 (en) 2007-05-31
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EP1748654A1 (fr) 2007-01-31
JPWO2005107261A1 (ja) 2008-03-21
CN100456828C (zh) 2009-01-28

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